hpp-corbaserver  4.15.1
Corba server for Humanoid Path Planner applications
_constraints-fwd.hh
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1 #ifndef hpp_core_idl____constraints_hpp__
2 #define hpp_core_idl____constraints_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.15.1/idl/hpp/core_idl/_constraints.idl
6 //
7 
10 
11 #include <hpp/core/constraint.hh>
12 #include <hpp/core/constraint-set.hh>
13 #include <hpp/core/config-projector.hh>
15 #include <hpp/constraints/solver/by-substitution.hh>
16 
17 
18 
19 
20 
21 //
22 // Class implementing IDL interface hpp::core_idl::Constraint
23 //
24 namespace hpp {
25 
26 namespace core_impl {
27 template <typename _Base, typename _Storage>
29 public hpp::corbaServer::ServantBase<hpp::core::Constraint, _Storage>, public virtual _Base
30 {
31 public:
33 
35 
36 public:
37  // standard constructor
38  ConstraintServant(::hpp::corbaServer::Server* server, const _Storage& s);
39  virtual ~ConstraintServant();
40 
41  // methods corresponding to defined IDL attributes and operations
42 
43  ::CORBA::Boolean apply (hpp::floatSeq& config);
44 
45 
46  char* name ();
47 
48 
49  char* str ();
50 
51 
52  ::CORBA::Boolean isSatisfied (const hpp::floatSeq& config);
53 
54 
56 
57 
58 };
59 
61 } // namespace core_impl
62 
63 } // namespace hpp
64 
65 namespace hpp {
66 namespace corbaServer {
67 template<> struct hpp_traits<hpp::core::Constraint>{ typedef hpp::core::Constraint Base; };
68 } // namespace corbaServer
69 } // namespace corbaServer
70 
71 //
72 // Class implementing IDL interface hpp::core_idl::ConfigProjector
73 //
74 namespace hpp {
75 
76 namespace core_impl {
77 template <typename _Base, typename _Storage>
79 {
80 public:
82 
84 
85 public:
86  // standard constructor
87  ConfigProjectorServant(::hpp::corbaServer::Server* server, const _Storage& s);
88  virtual ~ConfigProjectorServant();
89 
90  // methods corresponding to defined IDL attributes and operations
91 
92  void setRightHandSideFromConfig (const hpp::floatSeq& config);
93 
94 
96 
97 
98  void setRightHandSide (const hpp::floatSeq& param);
99 
100 
102 
103 
105 
106 
108 
109 
110  ::CORBA::Boolean isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound);
111 
112 
114 
115 
116  ::CORBA::Boolean add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority);
117 
118 
119  void setLastIsOptional (::CORBA::Boolean optional);
120 
121 
122  ::CORBA::Boolean getLastIsOptional ();
123 
124 
125  void setErrorThreshold (hpp::value_type threshold);
126 
127 
129 
130 
131 };
132 
134 } // namespace core_impl
135 
136 } // namespace hpp
137 
138 namespace hpp {
139 namespace corbaServer {
141 } // namespace corbaServer
142 } // namespace corbaServer
143 
144 //
145 // Class implementing IDL interface hpp::core_idl::ConstraintSet
146 //
147 namespace hpp {
148 
149 namespace core_impl {
150 template <typename _Base, typename _Storage>
152 {
153 public:
155 
157 
158 public:
159  // standard constructor
160  ConstraintSetServant(::hpp::corbaServer::Server* server, const _Storage& s);
161  virtual ~ConstraintSetServant();
162 
163  // methods corresponding to defined IDL attributes and operations
164 
166 
167 
168 };
169 
171 } // namespace core_impl
172 
173 } // namespace hpp
174 
175 namespace hpp {
176 namespace corbaServer {
178 } // namespace corbaServer
179 } // namespace corbaServer
180 
181 
182 
183 
184 
185 #endif // hpp_core_idl____constraints_hpp__
186 
Definition: servant-base.hh:120
ConfigProjectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:120
hpp::core::Constraint Base
Definition: _constraints-fwd.hh:140
hpp::core::Constraint HppBase
Definition: _constraints-fwd.hh:32
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:267
virtual ~ConstraintSetServant()
Definition: _constraints.hh:341
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Definition: _constraints.idl:78
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:253
Implement CORBA interface `‘Obstacle’&#39;.
Definition: client.hh:46
double value_type
Definition: common.idl:18
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:81
Definition: _constraints-fwd.hh:78
hpp::core::Constraint Base
Definition: _constraints-fwd.hh:67
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:349
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConfigProjector, HppBase)
void setRightHandSide(const hpp::floatSeq &param)
Definition: _constraints.hh:164
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:135
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:149
Definition: _constraints-fwd.hh:151
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:239
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConstraintSet, HppBase)
virtual ~ConstraintServant()
Definition: _constraints.hh:32
Definition: _constraints-fwd.hh:28
Definition: _constraints.idl:37
Definition: _constraints.idl:26
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:154
char * str()
Definition: _constraints.hh:68
ConfigProjectorServant< POA_hpp::core_idl::ConfigProjector, hpp::weak_ptr< hpp::core::ConfigProjector > > ConfigProjector
Definition: _constraints-fwd.hh:133
void setErrorThreshold(hpp::value_type threshold)
Definition: _constraints.hh:295
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:95
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, hpp::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:170
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Constraint, HppBase)
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:127
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:281
hpp::core::Constraint Base
Definition: _constraints-fwd.hh:177
Implementation of Hpp module Corba server.
Definition: server.hh:77
ConstraintServant< POA_hpp::core_idl::Constraint, hpp::weak_ptr< hpp::core::Constraint > > Constraint
Definition: _constraints-fwd.hh:60
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:40
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:178
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::value_type getErrorThreshold()
Definition: _constraints.hh:309
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
Definition: servant-base.hh:89
char * name()
Definition: _constraints.hh:54
ConstraintSetServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:334
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:193
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:207
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:221
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:81